Applying screw theory to robot dynamics

DOI10.1016/0021-8928(91)90080-EMaRDI QIDQ1190876zbMATH OpenOpenAlexFDO

Authors J. M. Selig

Publication date 27 September 1992

Published in Journal of Applied Mathematics and Mechanics (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/0021-8928(91)90080-e

zbMATH Keywords

dynamicskinematicsLagrange equationsrigid-body dynamicsscrew calculationssix-link manipulator

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15)

Review text

A conceptually simple approach is developed to describe rigid-body dynamics. A brief exposition of screw calculations is given, with the main emphasis on the geometrical and algebraic properties of these objects. It is shown how to describe the kinematics and dynamics of a completely rigid body using screw variables. The corresponding equations are derived. This technique is generalized to systems of completely rigid bodies joined sequentially by hinges. The Lagrange equations are derived for a six-link manipulator controlled by torques acting along the axes of its hinges.

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• INDICES OF SINGULAR POINTS OF 1-FORMS ON A MANIFOLD WITH BOUNDARY, CONVOLUTION OF INVARIANTS OF REFLECTION GROUPS, AND SINGULAR PROJECTIONS OF SMOOTH SURFACES

Cited in

(8)

• Time derivatives of screws with applications to dynamics and stiffness
• Finite and instantaneous screw theory in robotic mechanism
• Screw-matrix method in dynamics of multibody systems
• scientific article; zbMATH DE number 4160178 (Why is no real title available?)
• Analytische Mechanik polarer Systeme
• Application of Screw Theory to Rigid Body Dynamics
• The Geometry of Virtual Work Dynamics in Screw Space
• Review: Don't Cross-Thread the Screw!

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